关节对中误差对机械臂末端定位精度影响

Joint clearance effects on robot manipulators positional error

针对机械臂关节对中误差对机械臂末端定位精度影响进行研究。以6自由度机械臂为研究对象,利用D-H法建立了机械臂运动学模型,并建立对中误差传递数学模型。利用蒙特卡洛方法以MATLAB为平台进行了误差分布仿真实验,得出了由于对中误差引起的机械臂末端定位误差分布特点,以及在不同对中误差等级下,机械臂末端定位误差概率分布情况。为对中误差修正提供了参考基础,同时为机械臂定位精度评价提供了定量化依据。

The effects of joint clearance on robot manipulators positional error were investigated. The kinematic model was built by using the D- H method to research the six degrees of freedom mechanical arm. The central error propagation model was established. The simulations of error distribution were conducted in MATLAB with Monee Carlo method. The distribution characteristic and probability distribution of positional error of mechanical arm＇s end,which is caused by the joint clearance,were obtained from the simulations at different levels of joint clearance. This research provides basis for error compensation and positional error evaluation.